version: 66.13
glider: 196
mission: 14
dive: 255
start: 9 5 117 13 52 8
data:
$ID,196
$MISSION,14
$DIVE,255
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,480
$D_ABORT,650
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,160
$T_MISSION,195
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.050000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,55566
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,702.78448
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3365
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,1.4
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.29706
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,1000.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,716.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,0.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,050917,134232,7500.9775,-15200.8848,29,0.7,29,20.2,0.0,0.0,11,7.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.2
$GPS2,050917,135134,7501.0112,-15200.8760,8,0.7,8,20.2,0.0,0.0,11,8.8
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,T5
$TGT_LATLONG,7543.100,-15110.600
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,5.7,81263,-17.9,-10.000,-21.31,2227
$D_GRID,480
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,47,end surface,CONTROL_FINISHED_OK
$STATE,47,begin dive
$GC,50,-0.57,-145.9,193,2219,504,491,0.0,0.0,0,143,0.00,0.00,-91.25,0.000,16386,0.000,0.000,191,2219,2140,2071,2210,0,0,0,0,0,0,14.54,28.83,14.57
$GC,146,-0.57,-145.9,191,2219,2074,2211,3.3,-4.2,9,203,12.95,2.75,-37.65,0.000,18724,0.457,2.140,2376,3594,3964,3947,3982,0,0,0,0,0,0,13.59,12.56,14.08
$GC,364,-0.72,-145.9,2380,3596,3953,3980,43.7,-12.9,52,370,0.00,2.40,0.00,0.000,1158,0.000,0.060,2376,2195,3966,3952,3980,0,0,0,0,0,0,14.25,14.14,14.34
$GC,671,-0.84,-145.9,2376,2195,3954,3980,83.2,-10.6,83,672,0.20,0.00,0.00,0.000,4230,0.112,0.000,2297,2194,3966,3953,3980,0,0,0,0,0,0,14.28,14.40,14.37
$GC,989,-0.86,-145.9,2297,2195,3954,3982,131.2,-14.3,101,994,0.00,2.47,0.00,0.000,388,0.000,0.090,2291,3600,3966,3953,3980,0,0,0,0,0,0,14.63,14.16,14.64
$GC,1094,-0.98,-145.9,2291,3601,3955,3980,144.3,-11.7,122,1099,0.00,2.38,0.00,0.000,1158,0.000,0.058,2291,2194,3966,3953,3980,0,0,0,0,0,0,14.35,14.23,14.40
$GC,1409,-1.03,-145.9,2291,2194,3954,3979,184.6,-12.5,135,1410,0.15,0.00,0.00,0.000,4230,0.124,0.000,2237,2193,3966,3953,3979,0,0,0,0,0,0,14.33,14.45,14.42
$GC,1709,-1.00,-145.9,2238,2193,3954,3980,233.1,-16.0,145,1714,0.00,2.47,0.00,0.000,388,0.000,0.090,2235,3597,3966,3953,3979,0,0,0,0,0,0,14.64,14.17,14.68
$GC,1899,-1.07,-145.9,2236,3598,3953,3981,258.4,-12.4,183,1904,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2201,3966,3953,3980,0,0,0,0,0,0,14.36,14.23,14.40
$GC,2219,-1.07,-145.9,2236,2199,3954,3980,301.2,-13.2,197,2224,0.00,2.47,0.00,0.000,260,0.000,0.090,2236,3602,3966,3953,3980,0,0,0,0,0,0,14.66,14.16,14.67
$GC,2259,-1.14,-145.9,2236,3606,3954,3980,306.2,-12.1,205,2264,0.00,2.38,0.00,0.000,1158,0.000,0.057,2236,2198,3966,3952,3980,0,0,0,0,0,0,14.36,14.23,14.41
$GC,2579,-1.18,-145.9,2236,2197,3954,3980,344.5,-11.6,219,2584,0.12,2.47,0.00,0.000,4484,0.150,0.086,2172,3601,3966,3953,3979,0,0,0,0,0,0,14.29,14.16,14.34
$GC,2650,-1.12,-145.9,2173,3603,3954,3980,355.3,-16.2,233,2655,0.20,2.38,0.00,0.000,3206,0.265,0.057,2213,2197,3966,3953,3979,0,0,0,0,0,0,13.88,14.22,14.19
$GC,2970,-1.12,-145.9,2214,2197,3953,3980,397.9,-12.9,247,2975,0.00,2.47,0.00,0.000,260,0.000,0.089,2209,3601,3965,3952,3979,0,0,0,0,0,0,14.66,14.16,14.67
$GC,3065,-1.17,-145.9,2209,3603,3954,3979,409.7,-11.9,266,3070,0.00,2.38,0.00,0.000,1158,0.000,0.057,2209,2200,3966,3953,3979,0,0,0,0,0,0,14.23,14.11,14.28
$GC,3390,-1.17,-145.9,2209,2201,3953,3980,452.0,-12.9,281,3395,0.00,2.45,0.00,0.000,260,0.000,0.088,2201,3598,3965,3952,3978,0,0,0,0,0,0,14.66,14.16,14.67
$GC,3455,-1.21,-145.9,2202,3599,3954,3979,460.4,-12.3,294,3460,0.00,2.38,0.00,0.000,1158,0.000,0.056,2201,2203,3965,3952,3978,0,0,0,0,0,0,14.23,14.11,14.27
$STATE,3628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3628,begin apogee
$GC,3634,-0.13,0.0,2202,2052,3954,3977,483.9,-13.5,304,3863,1.30,0.08,225.57,1.435,10246,0.241,0.180,2530,2097,3363,3386,3340,0,0,0,0,0,0,13.85,13.44,12.64
$STATE,3912,end apogee,CONTROL_FINISHED_OK
$STATE,3913,begin climb
$GC,3916,0.57,145.9,2530,2099,3375,3327,495.4,0.0,311,4134,0.73,2.65,207.27,1.389,11012,0.063,0.073,2778,3507,2760,2803,2717,0,0,0,0,0,0,13.74,12.90,12.26
$GC,4359,0.10,145.9,2778,3507,2784,2715,474.5,16.0,398,4364,0.82,2.40,0.00,0.000,5254,0.343,0.058,2619,2128,2748,2783,2714,0,0,0,0,0,0,13.47,13.81,13.82
$GC,4675,0.02,190.1,2618,2128,2784,2713,447.9,8.0,411,4743,0.12,2.58,62.80,1.407,12964,0.295,0.085,2590,688,2585,2638,2533,0,0,0,0,0,0,13.79,13.70,13.08
$GC,4795,0.10,241.6,2590,689,2630,2523,439.0,7.6,434,4879,0.00,2.50,78.62,1.366,9382,0.000,0.080,2591,2094,2380,2440,2321,0,0,0,0,0,0,14.10,13.97,12.92
$GC,5189,0.17,273.6,2591,2093,2418,2302,406.0,8.5,463,5245,0.15,2.53,47.50,1.379,10916,0.119,0.086,2659,705,2242,2295,2189,0,0,0,0,0,0,14.25,13.97,13.14
$GC,5275,0.13,273.6,2659,703,2289,2187,395.0,13.1,475,5281,0.15,2.47,0.00,0.000,5254,0.242,0.078,2627,2102,2236,2287,2185,0,0,0,0,0,0,13.83,14.00,14.08
$GC,5580,0.13,273.6,2631,2104,2287,2179,361.9,10.7,486,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2103,2232,2286,2178,0,0,0,0,0,0,14.57,14.58,14.58
$GC,5880,0.13,273.6,2624,2101,2284,2176,330.7,10.2,496,5886,0.00,2.47,0.00,0.000,516,0.000,0.086,2631,690,2231,2286,2176,0,0,0,0,0,0,14.62,14.21,14.64
$GC,5961,0.19,283.1,2631,690,2286,2175,322.7,9.6,512,5972,0.00,2.45,3.42,1.303,9382,0.000,0.078,2631,2106,2209,2263,2155,0,0,0,0,0,0,14.38,14.24,12.81
$GC,6271,0.19,283.1,2631,2107,2275,2165,291.3,10.1,524,6276,0.00,2.47,0.00,0.000,516,0.000,0.085,2631,688,2219,2273,2165,0,0,0,0,0,0,14.65,14.19,14.68
$GC,6312,0.25,289.6,2630,689,2274,2167,287.3,9.7,532,6333,0.00,2.45,16.10,1.519,9382,0.000,0.079,2631,2103,2183,2237,2130,0,0,0,0,0,0,14.40,14.26,13.32
$GC,6632,0.30,317.4,2632,2103,2226,2120,257.5,8.7,546,6688,0.12,2.50,48.08,1.347,10916,0.126,0.086,2699,691,2064,2112,2017,0,0,0,0,0,0,14.36,14.09,13.26
$GC,6743,0.26,317.4,2699,691,2102,2014,244.4,11.7,568,6749,0.15,2.47,0.00,0.000,5254,0.220,0.077,2666,2101,2057,2101,2013,0,0,0,0,0,0,13.87,13.98,14.09
$GC,7054,0.27,329.8,2667,2101,2101,2006,214.2,9.4,580,7070,0.00,0.00,14.57,1.478,8230,0.000,0.000,2666,2101,2021,2068,1975,0,0,0,0,0,0,14.59,14.15,13.31
$GC,7354,0.28,353.9,2667,2102,2058,1960,187.5,8.9,590,7400,0.00,2.47,40.90,1.335,8740,0.000,0.085,2672,694,1919,1960,1878,0,0,0,0,0,0,14.60,13.91,13.26
$GC,7467,0.39,380.4,2673,694,1946,1880,177.6,8.8,612,7521,0.10,2.47,46.10,1.294,11430,0.157,0.080,2713,2101,1810,1838,1782,0,0,0,0,0,0,14.14,14.12,13.17
$GC,7836,0.39,380.4,2714,2101,1828,1766,135.3,11.2,636,7841,0.00,2.47,0.00,0.000,516,0.000,0.086,2721,695,1796,1826,1766,0,0,0,0,0,0,14.43,14.08,14.45
$GC,7881,0.41,380.4,2722,697,1826,1767,130.3,10.8,645,7886,0.00,2.47,0.00,0.000,1158,0.000,0.079,2721,2105,1795,1825,1766,0,0,0,0,0,0,14.23,14.10,14.28
$GC,8196,0.41,380.4,2722,2107,1825,1764,97.1,10.2,658,8202,0.00,2.50,0.00,0.000,516,0.000,0.085,2725,690,1794,1824,1764,0,0,0,0,0,0,14.45,14.04,14.45
$GC,8299,0.45,403.5,2725,689,1821,1765,87.7,8.9,678,8315,0.00,2.50,10.45,0.439,9382,0.000,0.079,2725,2102,1719,1746,1693,0,0,0,0,0,0,14.17,14.03,13.55
$GC,8620,0.53,486.1,2725,2103,1756,1698,62.2,6.2,712,8673,0.00,2.55,44.20,0.383,8868,0.000,0.084,2726,703,1383,1430,1337,0,0,0,0,0,0,14.42,13.96,13.64
$GC,8730,0.72,562.3,2727,703,1432,1339,55.3,6.5,733,8778,0.25,2.50,40.80,0.363,11430,0.089,0.079,2822,2102,1071,1140,1002,0,0,0,0,0,0,14.08,14.00,13.64
$GC,9073,0.74,587.9,2822,2102,1143,1004,20.5,8.8,772,9094,0.00,2.53,14.27,0.272,8740,0.000,0.088,2822,688,967,1038,896,0,0,0,0,0,0,14.38,13.91,13.71
$GC,9214,0.85,642.7,2822,689,1040,905,9.4,7.5,800,9251,0.00,2.50,30.67,0.233,9382,0.000,0.076,2819,2101,743,808,679,0,0,0,0,0,0,14.11,14.00,13.81
$STATE,9313,end climb,SURFACE_DEPTH_REACHED
$STATE,9313,begin surface coast
$FINISH,0.3,1.021429
$STATE,9335,end surface coast,CONTROL_FINISHED_OK
$STATE,9335,begin surface
$SM_CCo,9356,33.25,0.211,0,0,502,702.78
$SM_GC,1.39,8.07,0.17,33.25,0.068,0.115,0.211,198,2224,502,-7.39,-0.71,702.78,0,0,0,0,0,0,14.15,14.15,13.89
$RAFOS_CLK,85
$RAFOS_FIX,7424.860352,-15335.210938,310817,202059,3,255,0.12
$IRIDIUM_FIX,7500.94,-15200.54,050917,134544
$TT8_MAMPS,0.085386,0.935501
$HUMID,43.54
$INTERNAL_PRESSURE,7.75222
$TCM_TEMP,13.20
$XPDR_PINGS,12
$CP_FREE,15963324416.000000
$PM_FREEKB_00,50417088
$24V_AH,12.26,165.040
$10V_AH,12.16,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.600,89.575,931.350,33.250,0.000,0.000,0.000,290.850,3.000,0.000,9.586,0.000,6721.690,981.303,1995.373,246.619,0.000,2026.255,0.000,1168.500,2209.000,0.539,0.000
$DEVICE_MAMPS,456.705,2139.705,1518.525,211.140,0.000,0.000,0.000,149.175,420.000,0.000,22.470,0.000,2.310,13.970,33.440,38.690,0.000,10.000,0.000,7.000,48.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9282.000,9335.000,9307.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.569,20.000,9.867,0.000
$MEM,323568
$DATA_FILE_SIZE,30001,816
$CAP_FILE_SIZE,104457,0
$CFSIZE,2097872896,2011627520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,4714.64,0x2341ea,1,24
$SOUNDSPEED,1448.7
$CURRENT,0.036,313.58,1
$GPS,050917,163002,7502.153,-15158.384,28,0.7,40,20.3,1.0,324.7,11,7.8